import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
   config = os.path.join(
      get_package_share_directory('launch_tutorial'),
      'config',
      'turtlesim.yaml'
      )

   return LaunchDescription([
        Node(
        package='turtlesim',
        executable='turtlesim_node',
        namespace='turtlesim3',
        name='sim',
        parameters=[config]
        )
   ])